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IQ® Programmer Reference Manual Command Modes 12 to 18 are for stepper drives and SRV servo drives only: 12 - Analog velocity mode with input X1 as run/stop input 13 - Analog velocity mode with input X5 (X4 for STP-AC5 drives) as speed change input 14 - Analog velocity mode with input X1 as run/stop input and input X5 (X4 for STP-AC5 drives) as speed change input 15 - Velocity mode (JS for speed) 16 - Velocity mode (JS for speed) with input X1 as run/stop input 17 - Velocity mode (JS for speed) with input X5 (X4 for STP-AC5 drives) as speed change input 18 - Velocity mode (JS for speed) with input X1 as run/stop input and input X5 (X4 for STP-AC5 drives) as speed change input NOTE: It is recommended to use Configurator or Quick Tuner software for setting up velocity mode operation. Examples: 52 Command Drive sends CM2 - Notes Sets the servo drive to Analog Torque mode, at which time there is a linear relationship between the voltage at the drive’s analog input and the motor current. CM7 - Sets the drive to Step & Direction input mode, which is used for all digital positioning schemes like Step (Pulse) & Direction, CW/CCW Pulse, and A/B Quadrature. Use the appropriate IQ® Programmer or IQ® Servo application to set the proper scheme within this mode. CM10 - Sets the drive to Command Velocity, or jog mode, which in practice is very similar to Point-to-Point mode (CM21). When in CM21 and a jog command is issued, like CJ, the drive automatically switches to CM10 during the jog move and then back to CM21 when the jog move is stopped. Conversely, when in CM10 and a feed move is commanded, like FL, the drive automatically switches to CM21 during the move and then back to CM10 when the move is finished. CM10 is most useful with servo drives, and when the JM (Jog Mode) is set to 2. This puts the drive into a jog mode in which position error is ignored. Then, when the motor is at rest the drive acts somewhat like a constant friction device in that a certain amount of torque (set by CC and CP commands) is required to move the shaft. CM11 - Sets the drive to Analog Velocity mode. In servo drives this will be similar to the Analog Torque mode, where voltage level at the analog input relates to motor speed. In stepper drives this puts the drive into continuous oscillator mode, with speed set by the JS command. CM22 - Sets the drive to Analog Positioning mode. In this mode it is also possible to control the position through the use of an external encoder.
